无法从ROS Services中获取数据，只进入服务器但数据出不来，为什么？

Question

我需要通过客户端请求从串口微控制器读取数据（比如说压力）。我查看了 Python 中的 ROS 服务教程，但我的代码仍然没有将数据值提供给客户端。这里首先是服务服务器Python节点

#!/usr/bin/env python3

from __future__ import print_function
import rospy
import numpy as np
from os import system
import time
import threading
import Microcontroller_Manager_Serial as Serial
import IMU_Functions as IMU
import Motors_Functions as Motor
import Pressure_Functions as Pressure
from geometry_msgs.msg import Vector3
import Modem_Functions as Modem
import threading 
import time
import serial
import serial.tools.list_ports

from time import sleep
from std_msgs.msg import Float32
from std_msgs.msg import String

from demo_teleop.srv import ImuValue
Communication_Mode_ = 0

def handle_ros_services():
    global P0
    data_received = Pressure.Pressure_Get_Final_Values(1,1)
    print("Server Read Data:")
    P0 = (np.int16((data_received[6]<<24) | (data_received[7]<<16) | (data_received[8]<<8) | (data_received[9])))/10000
    P=P0
    pressure = P/9.81
    current_x_orientation_s=pressure
    print("Returning ", current_x_orientation_s)
    #return ImuValue(current_x_orientation_s)


def ros_serice_server():
    #rospy.init_node('ros_serice_server')
    s = rospy.Service('imu_value', ImuValue, handle_ros_services)
    print("Ready to get_value")
    rospy.spin()


if __name__ == '__main__':
    rospy.init_node('server_node_f')
    Serial.Serial_Port_Standard()
    while not rospy.is_shutdown():
        try:
            print("entering service")
            ros_serice_server()
        except:
            print("pass")

当我调用服务器时，我得到了这个输出

entering service 
Ready to get_value

这里是客户端节点

#!/usr/bin/env python3

from __future__ import print_function
import rospy
import sys
import numpy as np
from os import system
import time
import threading
import Microcontroller_Manager_Serial as Serial
import IMU_Functions as IMU
import Pressure_Functions as Pressure
import time
import serial
import serial.tools.list_ports
from time import sleep
from std_msgs.msg import Float32
from std_msgs.msg import String

from demo_teleop.srv import ImuValue

Communication_Mode_ = 0

def imu_client():
    rospy.wait_for_service('handle_ros_services')
    print("Request call send")
    imu_value = rospy.ServiceProxy('imu_value', ImuValue)
    #resp1 = imu_value
    #return imu_value.current_x_orientation_s

if __name__ == "__main__":
    rospy.init_node('client_node_f')
    while not rospy.is_shutdown():
        try:
            print("entering client")
            imu_client()
        except:
            print("pass")

当我打电话给客户时只得到

entering client

因此意味着服务器永远不会进入 handle_ros_services() 并且客户端永远不会进入 imu_client(): 功能。代码有什么问题？

Answer 1

调用wait_for_service时你的命名有误。您的服务回调称为 handle_ros_services，但服务名称本身是 imu_value。因此，您的客户将永远等待，因为以前的服务名称实际上从未被提出来。而不是在 imu_client() 里面你想要行

rospy.wait_for_service('imu_value')

无法从ROS Services中获取数据，只进入服务器但数据出不来，为什么？

Can not get the data from ROS Services, only entering the server but data is not out, why?

python

ros